因應自動化之需求目前台灣很多大企業皆積極開發工業用機器人。速度及精密度為衡量機器人性能之兩個重要指標，本文將提出一成本較低且易於使用之方法改善這兩項指標，除了設計新機器人之外所提出之方法亦可用來改善現有機器人之性能。一般機器人於工作空間中進行路徑規劃時首先需求得路徑上一些指定點之反位移解，其次再以連續曲線連結軸位移空間中反位移解所對應之點，除了指定點之外此軸位移空間之曲線所產生真正工作空間中之路徑會偏離原規劃路徑。雖然增加指定點之數目可提高路徑之準確度，但是所取之數目愈多則愈費時而降低機器人之效率。本文將研究如何在不增加指定點數目之條件下減少規劃路徑之偏移量。首先探討那些因素會影響偏移量並發現改變指定點間之相對位置可有效的減少誤差、其次以改變指定點相對位置為基礎提出方法搜尋最佳路徑。當指定點數目不變時可減少路徑誤差，若給予一路徑所能允許之誤差量時則可減少指定點數目以提高生產效率，此外所提出之方法亦可用來搜尋機器人與待組裝物件間之最佳相對位置。

Recently, many big corporations develop their own industrial manipulators for the need of automation. Speed and accuracy are two of the most important criteria in the design of manipulators. This work presents simple and low-cost methods to improve these two properties. The methods can be used for new or existing manipulators. In trajectory planning, most industrial manipulators solve the inverse kinematics at some points on a path in the task space and then connect the related points in joint space using continuous curves. Except for the specified points in joint space corresponding to the inverse kinematic solutions, the images in task space for other points on the curves usually deviate from the trajectory. A more accurate trajectory can be obtained by increasing the number of the specified points, but more specified points will reduce the speed of a manipulator. How to reduce the deviation errors without increasing the number of the specified points is investigated in this work. Factors that affect the deviation errors are studied and the results show that adjusting the related positions of the specified points can significantly reduce the errors. Methods based on the adjustments are then proposed to search for the optimal trajectory. The methods can minimize the errors without increasing the numbers of specified points, or minimize the number of the specified points to increase the speed when the maximum allowed error is given. The methods can also be used to determine the best relative position between the manipulator and the assembly parts.

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